DI - PLG - Capítulos de Monografíashttp://hdl.handle.net/10016/66522016-12-09T15:28:45Z2016-12-09T15:28:45ZFrom perception to action and vice versa: A new architecture showing how perception and action can modulate each other simultaneouslyPalomino, Antonio JesúsGarcía Olaya, ÁngelFernández Rebollo, FernandoBandera, Juan Pedrohttp://hdl.handle.net/10016/220332016-06-16T02:03:20Z2013-09-01T00:00:00ZFrom perception to action and vice versa: A new architecture showing how perception and action can modulate each other simultaneously
Palomino, Antonio Jesús; García Olaya, Ángel; Fernández Rebollo, Fernando; Bandera, Juan Pedro
Artificial vision systems can not process all the information that they receive from the world in real time because it is highly expensive and inefficient in terms of computational cost. However, inspired by biological perception systems, it is possible to develop an artificial attention model able to select only the relevant part of the scene, as human vision does. From the Automated Planning point of view, a relevant area can be seen as an area where the objects involved in the execution of a plan are located. Thus, the planning system should guide the attention model to track relevant objects. But, at the same time, the perceived objects may constrain or provide new information that could suggest the modification of a current plan. Therefore, a plan that is being executed should be adapted or recomputed taking into account actual information perceived from the world. In this work, we introduce an architecture that creates a symbiosis between the planning and the attention modules of a robotic system, linking visual features with high level behaviours. The architecture is based on the interaction of an oversubscription planner, that produces plans constrained by the information perceived from the vision system, and an object-based attention system, able to focus on the relevant objects of the plan being executed.
The proceeding at: 6th European Conference on Mobile Robots.Took place in September 25-27, 2013, in Barcelona, Spain.
2013-09-01T00:00:00ZA General-Purpose Architecture to Control Mobile RobotsManso, Luis J.Calderita, LuisBustos, PabloGarcía Guzmán, JavierMartinez Muñoz, MoisesFernández Rebollo, FernandoRomero Garcés, AdriánBandera, Antoniohttp://hdl.handle.net/10016/220322016-06-16T02:21:43Z2014-06-01T00:00:00ZA General-Purpose Architecture to Control Mobile Robots
Manso, Luis J.; Calderita, Luis; Bustos, Pablo; García Guzmán, Javier; Martinez Muñoz, Moises; Fernández Rebollo, Fernando; Romero Garcés, Adrián; Bandera, Antonio
Complex robotic tasks require the coordination of a considerable amount of skills. This is generally achieved generating and executing action plans that fulfill the preconditions of the given objective. These tasks can be highly dynamic, since the appearance of new objects or unexpected situations is a constant during the plan execution. In this context, robot control systems require the capability of managing a suitable world model (creating, removing or retyping dynamically objects as a result of the plan execution), and the capability of monitoring and replanning when unexpected situations are detected. In this paper we introduce a general-purpose architecture for autonomous mobile robots providing these features. The architecture allows to generate planning applications since it integrates planning, re-planning, monitoring and learning capabilities, and, at the same time, manages a consistent graph-like world model. Finally, we present some preliminary results of the deployment of such architecture in an advertisement promoting robot domain.
This paper at: 15th Workshop of Physical Agent. at took place, June 12 and 13, 2014 in León (Spain)
2014-06-01T00:00:00ZTHERAPIST: Towards an Autonomous Socially Interactive Robot for Motor and Neurorehabilitation Therapies for ChildrenCalderita, Luis VicenteBustos, PabloManso, Luis J.Suárez Mejías, CristinaFernández Rebollo, FernandoAntonio, Banderahttp://hdl.handle.net/10016/220292016-06-16T02:12:38Z2013-05-01T00:00:00ZTHERAPIST: Towards an Autonomous Socially Interactive Robot for Motor and Neurorehabilitation Therapies for Children
Calderita, Luis Vicente; Bustos, Pablo; Manso, Luis J.; Suárez Mejías, Cristina; Fernández Rebollo, Fernando; Antonio, Bandera
Exploiting the use-dependent plasticity of our neuromuscular system, neuro-rehabilitation therapies are devised to help patients that suffer from injuries or diseases in this system, such as those caused by brain damage before or during birth or in the first years of life (e.g. due to cerebral palsy or obstetric brachial plexus palsy). These therapies take advantage of the fact that the motor activity alters the properties of our neurons and muscles, including the pattern of their connectivity, and thus their functionality. Hence, a sensor-motor treatment where the patient makes certain movements, will help her to (re)learn how to move the affected body parts. But this traditional rehabilitation processes come at a cost: therapies are usually repetitive and lengthy, reducing motivation and adherence to the treatment and thus limiting the benefits for the patients. This paper describes the motivation, experiences and current efforts towards the final development of THERAPIST, a socially interactive robot for neuro-rehabilitation assistance. Our starting hypothesis was that patients could get consistently engaged in a therapeutic non-physical interaction with a robot, facilitating the design of new therapies that should improve the patient recovery time and reduce the overall socio-economic costs. This hypothesis was validated by our initial experimental studies, which showed that pediatric patients can be easily driven into highly attentive and collaborating attitudes by letting them interact with a robot. However, in order to be safe and robust, this robot was teleoperated, requiring a great effort on supervision from clinic professionals. The development of a real socially interactive robot will require the intersection of multiple challenging directions of research that we are currently exploring.
The proceeding at: 7th International Conference on Pervasive Computing Technologies
for Healthcare, that will take place in Venice, Italy, May 5–8, 2013.
2013-05-01T00:00:00ZLearning to teach database design by trial and errorIglesias, AnaMartínez, PalomaCuadra, DoloresCastro, ElenaFernández, Fernandohttp://hdl.handle.net/10016/198322016-06-16T01:37:07Z2002-04-03T00:00:00ZLearning to teach database design by trial and error
Iglesias, Ana; Martínez, Paloma; Cuadra, Dolores; Castro, Elena; Fernández, Fernando
The definition of effective pedagogical strategies for coaching and tutoring students according to their needs in each moment is a high handicap in ITS design. In this paper we propose the use of a Reinforcement Learning (RL) model, that allows the system to learn how to teach to each student individually, only based on the acquired experience with other learners with similar characteristics, like a human tutor does. This technique avoids to define the teaching strategies by learning action policies that define what, when and how to teach. The model is applied to a database design ITS system, used as an example to illustrate all the concepts managed in the model.
Proceedings of: 4th International Conference on Enterprise Information Systems (ICEIS 2002), Ciudad Real, Spain, April 3-6, 2002
2002-04-03T00:00:00Z